Biological Sciences, Vol. 2, Issue 3, Jun  2018, Pages 45-61; DOI: 10.31058/j.bs.2018.23006 10.31058/j.bs.2018.23006

Model-Based Modeling and Simulation of Lower-Extremity Exoskeleton Rehabilitation Robot (ERRobot)

Biological Sciences, Vol. 2, Issue 3, Jun  2018, Pages 45-61.

DOI: 10.31058/j.bs.2018.23006

Lei Shi 1* , Zhen Liu 2

1 System Control Engineering Department, Neorium Technology Co., LTD., Tokyo, Japan

2 Graduate School of Engineering, Nagasaki Institute of Applied Science, Nagasaki, Japan

Received: 7 July 2018; Accepted: 30 July 2018; Published: 14 September 2018

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Abstract

To assist in patients with lower-extremity disability, the work is devoted to developing the lower-extremity rehabilitation robot so as to replace the traditional training method, which mainly relies on therapist’s one-by-one rehabilitation therapy. Firstly, the work designs an Exoskeleton Rehabilitation Robot (ERRobot). Because it is a human machine system, many considerations must be integrated. Next, we focus on the model construction of the Human-ERRobot system, in which the work adopts a model-based modeling methods, and some modeling tools such as Creo2.0, Matlab/Simmechanics, etc. Finally, the work designs two simulation experiments to validate constructed Muscle Tendon Complex (MTC) model and Human-ERRobot physical model, respectively. The results illustrate that the developed models are validness, which may lay a good foundation for further controller development.

Keywords

Exoskeleton Rehabilitation Robot (ERRobot), Human Machine System, Muscle Tendon Complex (MTC), Model-based Method, Simulation Model

Copyright

© 2017 by the authors. Licensee International Technology and Science Press Limited. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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